{
  "abstract": "A system for accurately and smoothly moving the tool centerpoint of a manipulator device. The system includes means for measuring the angles at the elbow pivot joint and shoulder pivot joint of the manipulator device. Required compensating movement in a second axis of the manipulator linkage as a result of movement in a first axis thereof is anticipated by the control system to enable substantially simultaneous movement of both axes, and feedback of the angular position of the pivot joints during such movements enables enhancement of the precision of the tool centerpoint movement.",
  "assignees": [
    "CINCINNATI MILACRON INC"
  ],
  "authors": [
    "LINTNER DAVID E",
    "STEINMETZ MICHAEL A"
  ],
  "canonical_url": "https://opentechnical.org/p/OT-2026-000003434",
  "categories": [
    "robotics-automation/robot-architectures"
  ],
  "extent": {
    "figures": 0,
    "paragraphs": 5,
    "words": 103
  },
  "figures": [],
  "files": [
    {
      "bytes": 22912,
      "media_type": "image/webp",
      "name": "figures/fig-001-card.webp",
      "sha256": "29c47dfa0a8113574471d8d416e2ffaec248e7a470d286d8d6e1dfa56bf7b5de"
    },
    {
      "bytes": 47974,
      "media_type": "image/webp",
      "name": "figures/fig-001-full.webp",
      "sha256": "be1cb9500158945af75d9075913eeca6db571116606b0add8d33912b411ea76f"
    },
    {
      "bytes": 6602,
      "media_type": "image/webp",
      "name": "figures/fig-001-thumb.webp",
      "sha256": "3c1963f6f0fa4ccf416db43e6f0448f21e937c251446c3ef4ac6266959764e8d"
    },
    {
      "bytes": 19392,
      "media_type": "image/webp",
      "name": "figures/fig-002-card.webp",
      "sha256": "aeee558a0cb4ea559a801b5775e76d62423a14216eb6e89b2896dfc74249b080"
    },
    {
      "bytes": 40168,
      "media_type": "image/webp",
      "name": "figures/fig-002-full.webp",
      "sha256": "935aee7726e2fc5c69039b27df335e6de162688797dcd2fbeeea92186cab0bde"
    },
    {
      "bytes": 5582,
      "media_type": "image/webp",
      "name": "figures/fig-002-thumb.webp",
      "sha256": "8caa19e31648a9096d108471747400bbbb8fc57e36fcd8ec8c5d0b19763e2425"
    },
    {
      "bytes": 14056,
      "media_type": "image/webp",
      "name": "figures/fig-003-card.webp",
      "sha256": "24726b12fade10053653cf2e0deca352122e929aa420040dcafbda8ea2ea45e0"
    },
    {
      "bytes": 28524,
      "media_type": "image/webp",
      "name": "figures/fig-003-full.webp",
      "sha256": "e81177cff08855838efe9b144cada3c56cf5c12f1b0bfd7814b8c7c0a9fa1c43"
    },
    {
      "bytes": 4460,
      "media_type": "image/webp",
      "name": "figures/fig-003-thumb.webp",
      "sha256": "f63661a8cb4c5ce2ba152669ed51290c909a71880da64ed69b0872d2ab276df0"
    },
    {
      "bytes": 15534,
      "media_type": "image/webp",
      "name": "figures/fig-004-card.webp",
      "sha256": "bfa8dfdcb32b51e6febd4961746718758dbde0d00b9b0faac2df70bbe0abba65"
    },
    {
      "bytes": 31392,
      "media_type": "image/webp",
      "name": "figures/fig-004-full.webp",
      "sha256": "e9ddb69f7e5aec3403331cfdc970eb8aaf57308f1fae0ae30e9d32dd1dfc86ad"
    },
    {
      "bytes": 4972,
      "media_type": "image/webp",
      "name": "figures/fig-004-thumb.webp",
      "sha256": "68f0d12bc28ee65d02544bf03773184c337e300bf38acb0c175f40fc7d40d33f"
    },
    {
      "bytes": 32080,
      "media_type": "image/webp",
      "name": "figures/fig-005-card.webp",
      "sha256": "afe280831010856ea139dac8dd072bcde2f55acda68ef33879546b58ff97f80d"
    },
    {
      "bytes": 64124,
      "media_type": "image/webp",
      "name": "figures/fig-005-full.webp",
      "sha256": "c79432adb080cdde339f797beca7eacea36e34dbf88f3bbdc3988351e22d7ef7"
    },
    {
      "bytes": 10006,
      "media_type": "image/webp",
      "name": "figures/fig-005-thumb.webp",
      "sha256": "26c2ca28d7ef2336cece5edfe67156877a18e779f9637fa80c640e0cc02accd9"
    },
    {
      "bytes": 12800,
      "media_type": "text/html; charset=utf-8",
      "name": "index.html",
      "sha256": "f85617eef0687118752e80b6a84c1fdc6eef3aefdf50dbba1834d4a20e0382bf"
    },
    {
      "bytes": 1135,
      "media_type": "text/markdown; charset=utf-8",
      "name": "publication.md",
      "sha256": "6634ed7a01427a6ce0176d81b51e135a1878a71f0da9dd1c7482fec273249c78"
    },
    {
      "bytes": 1228,
      "media_type": "text/plain; charset=utf-8",
      "name": "publication.txt",
      "sha256": "835961023953793756daa9fc53b0db8ae2b9bce87f4d472b84ab2424ac09a436"
    }
  ],
  "integrity": {
    "hash_algorithm": "sha256",
    "keys_url": "https://opentechnical.org/integrity/keys",
    "record_url": "https://opentechnical.org/p/OT-2026-000003434/integrity",
    "signature_algorithm": "Ed25519",
    "signature_file": "manifest.sig",
    "verify_url": "https://opentechnical.org/integrity/verify"
  },
  "keywords": [
    "b25j9/046",
    "b25j9/046",
    "b25j13/08",
    "b25j13/088",
    "b25j13/088",
    "b25j9/04"
  ],
  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
  },
  "publication_id": "OT-2026-000003434",
  "published_at": "2026-09-15T20:27:04.219787Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "figure_set",
  "schema": "opentechnical-publication-manifest/1.0",
  "source_date": "1991-01-22",
  "source_id": "US-4986724-A",
  "source_name": "the United States Patent and Trademark Office",
  "source_note": "drawings reproduced from the published facsimile",
  "source_url": "https://patents.google.com/patent/US4986724A",
  "supersedes": null,
  "title": "System for compensated motion of coupled robot axes",
  "uuid": "01a0a6c0-6e9b-7305-8a0f-4f6087816909"
}